输入非线性广义预测控制系统的吸引域分析与设计

Design and Analysis of the Domain of Attraction for Generalized Predictive Control with Input Nonlinearity

对输入非线性包括输入饱和与 Hammerstein 非线性的系统，采用两步法广义预测控制(TSGPC)策略．首先不考虑输入非线性，采用线性 GPC 求解期望的中间变量，然后采用解方程的方法处理 Hammerstein 非线性并用解饱和方法满足饱和约束．将 TSGPC 转化为状态空间描述，研究该控制策略的吸引域问题．将吸引域的求解化为迭代求解的优化问题，给出了求解算法和满足给定吸引域要求的控制器的调整方法．通过仿真验证了理论结果．

For systems with input nonlinearities,including input saturation and Hammer-stein nonlinearity,the Two Step Generalized Predictive Control(TSGPC)scheme is adopted.Firstly,the input nonlinearities are not considered and linear GPC is applied to obtain thedesired intermediate variable.Then,the Hammerstein nonlinearity is dealt with by solvingequation and the saturation constraint is satisfied by desaturation.This paper transformsTSGPC into state space representation,and studies its domain of attraction.It transformsthe solving of the domain of attraction into an iterative optimization problem and givesalgorithm for this solution.It also gives the tuning algorithm for achieving desired domainof attraction.The theoretical result is validated by simulation.